Device and method for orientation and positioning

ABSTRACT

Methods and devices for, among other applications, locating an emitter, comprises an array of receivers configured in different angular positions about the array relative to a corresponding array location axis, to receive a signal from the emitter having at least one burst containing a train of pulses, and at least one processor configured to profile pulse count values at each receiver, from one receiver to another in the array in relation to their respective angular positions, to designate a maximum peak angular position associated with a maximum pulse count value, and to attribute the peak angular position to an angular emitter location.

REFERENCE TO COPENDING APPLICATIONS

The entire subject matter, including materials submitted at filing, ofthe following applications is fully incorporated herein by reference:

-   -   This application is a continuation of and claims the priority of        U.S. patent application Ser. No. 16/658,431, filed Oct. 19,        2019, entitled, “DEVICE AND METHOD FOR ORIENTATION AND        POSITIONING”, which is a continuation of U.S. patent application        Ser. No. 15/517,443, filed Apr. 6, 2017, entitled, “DEVICE AND        METHOD FOR ORIENTATION AND POSITIONING”, now U.S. Pat. No.        10,452,157, issued Oct. 22, 2019, which is a U.S. National Stage        Application of International Application No. PCT/CA2015/0510012,        filed Oct. 6, 2015, which designated the U.S. and is entitled,        “DEVICE AND METHOD FOR ORIENTATION AND POSITIONING”, which        claims priority from U.S. Patent Application No. 62/060,769,        filed Oct. 7, 2014, entitled DEVICE AND METHOD FOR ORIENTATION        AND POSITIONING;    -   This application also is a continuation of and claims the        priority of U.S. patent application Ser. No. 16/924,784, filed        Jul. 9, 2020, which is a continuation of U.S. patent application        Ser. No. 16/431,091, filed Jun. 4, 2019, now U.S. Pat. No.        10,749,525, which is a continuation of U.S. patent application        Ser. No. 15/967,065, filed Apr. 30, 2018, now U.S. Pat. No.        10,320,384, which is a continuation of U.S. patent application        Ser. No. 15/315,695, filed Jun. 4, 2019, now abandoned, which is        a U.S. National Stage Application of International Application        No. PCT/CA2015/000383, filed Jun. 1, 2015, which designated the        U.S., which claims priority of U.S. Provisional Application Nos.        62/007,134 and 62/005,686, filed Jun. 3, 2014 and Jun. 2, 2014,        respectively, all of the foregoing entitled “TOUCH-LESS        SWITCHING;”    -   U.S. Provisional Patent Application No. 61/147,711, filed Jan.        27, 2009 entitled “A METHOD AND APPARATUS FOR RANGING FINDING,        ORIENTING, AND POSITIONING OF SINGLE OR MULTIPLE DEVICES;”    -   PCT Patent Application CA2010/000095, filed Jan. 27, 2010        entitled “A METHOD AND APPARATUS FOR RANGING FINDING, ORIENTING,        AND POSITIONING OF SINGLE AND/OR MULTIPLE DEVICES” and        designating the United States;    -   U.S. Provisional Patent Application No. 61/367,787, filed Jul.        26, 2010 entitled “A METHOD AND APPARATUS FOR RANGING FINDING,        ORIENTING, AND POSITIONING OF SINGLE AND/OR MULTIPLE DEVICES;”    -   U.S. Provisional Patent Application No. 61/369,994, filed Aug.        2, 2010 entitled “A METHOD AND APPARATUS FOR RANGING FINDING,        ORIENTING, AND POSITIONING OF SINGLE OR MULTIPLE DEVICES;”    -   U.S. Provisional Patent Application No. 61/371,053, filed Aug.        5, 2010 entitled “A TOUCH-LESS TOGGLE/DIRECTIONAL LIGHT SWITCH        AND DIMMER;” and    -   U.S. Provisional Application 62/060,769, filed Oct. 7, 2014,        entitled “DEVICE AND METHOD FOR ORIENTATION AND POSITIONING.”

FIELD

The present disclosure relates to sensing positions of objects.

BACKGROUND

Optical navigation is an intuitive and precise way to track movingobjects. The optical approach is intuitive because our own human stereovision system calculates object locations and trajectories by opticaltriangulation. The precision of optical navigation is due to the veryshort wavelength of electromagnetic radiation in comparison with typicalobject dimensions, negligible latency in short distance measurements dueto the extremely large speed of light and relative immunity tointerference.

Optical navigation typically employs several cameras to determine theposition or trajectory of an object in an environment by studying imagesof the object in the environment. Such optical capturing or trackingsystems are commonly referred to as optical motion capture (MC) systems.In general, motion capture tends to be computationally expensive becauseof significant image pre- and post-processing requirements, as well asadditional computation associated with segmentation and implementationof algorithms, see for example U.S. Pat. No. 6,324,296 to McSheery.

Low-cost portable computing devices such as handheld or palm-sizedcomputers can support local communication between nearby computers, ormore generally can support wireless network or internetworkcommunications. Users equipped with suitable portable computers can, forexample, exchange e-mail, browse the web, utilize mapping software,control nearby computer peripherals (e.g. printers), or receiveinformation from local devices (e.g. job status of a printer). Theflexibility and utility of various applications can be enhanced if theprecise spatial location of the portable computing device is known.Knowing the location of the portable computing device (with a precisionof several meters to less than 1 meter, or so) permits construction ofuser specific maps, transfer of location information to others, andreceipt of location information for nearby computational or real worldresources (e.g. answering such questions as “where is the nearestprinter” or “where is the nearest coffee shop”). For this reason, havingeasily determinable and reliable position information would be a usefulfeature.

However, spatial localization with low cost devices can be difficult.Devices incorporating GPS receivers often do not work indoors because ofpoor radio reception and can require a substantial amount of time todetermine position with a required accuracy. In many areas, there maynot be any differential GPS availability to gain the necessary meterlevel precision for greatest utility. Other wireless schemes forlocalizing spatial position are generally not sufficiently precise (e.g.digital cellular telephone service areas with 1000 meter errors), or tooexpensive (inertial navigation systems).

It would be desirable to provide a novel approach to location sensing toovercome at least some of the drawbacks of known techniques, or at leastthat provides a useful alternative.

SUMMARY

The following presents a simplified summary of the general inventiveconcept herein to provide a basic understanding of some aspects of theinvention. This summary is not an extensive overview of the invention.It is not intended to restrict key or critical elements of the inventionor to delineate the scope of the invention. Furthermore, any one elementfeature, or action of any aspect or exemplary embodiment may be combinedwith any one or more elements from the same or other aspects orexemplary embodiments, herein and throughout the disclosure and claims.

In an aspect, there is provided a method of locating an emitter,comprising:

-   -   enabling an emitter to emit at least one locating signal, the        locating signal including, at least in part, a plurality of        discrete pulses in a train of pulses;    -   enabling each of a plurality of spaced receivers, at a sensing        location, to receive the locating signal, each of the receivers        having an angular position value associated with a designated        angle of the receiver relative to a reference axis of the        sensing location;    -   processing the locating signal received at each receiver to form        a pulse value in relation to a count of pulses above a pulse        strength threshold, and correlating the pulse value with the        angular position value to form a pulse count value;    -   identifying an aligned receiver associated with a maximum pulse        count value as the receiver aligned with the emitter, and        attributing the aligned receiver's angular position value to an        angular location value of the emitter, relative to the reference        axis.

Some exemplary embodiments may further comprise enabling the emitter toconfigure a minimum strength of each pulse according to the pulsestrength threshold.

Some exemplary embodiments may further comprise determining the maximumpulse count value according to:

Maximum Pulse Count Value=SUM[A[i]*E[i]]/SUM[E[i]], for i=1, . . . , N

-   -   for “i” being the index of each receiver, and N is the total        number of receivers;    -   A[i] is the angular position value of the receiver “i”; and    -   E[i] is the pulse count value of the receiver “i”.

Some exemplary embodiments may further comprise:

-   -   enabling the emitter to change the strength of each pulse from        one pulse to another along the train of pulses; and    -   attributing the maximum pulse count value to a range value of        the emitter relative to the sensing location.

In some exemplary embodiments, the maximum pulse count value may bedetermined according to:

Maximum Pulse Count Value=MAX[E[i]], at A[k], for i=1, . . . , N,

-   -   where “i” is an index value corresponding to each receiver, and        N is a total number of receivers,    -   A[i] is the angular position value of the receiver “i”.    -   E[i] is the pulse count value of the receiver “i”.    -   “k” is the aligned receiver, and    -   A[k] is the angular location value.

Some exemplary embodiments may further comprise enabling the emitter toemit an emitter identifier.

Some exemplary embodiments may further comprise enabling the emitter toemit the emitter identifier in the locating signal.

Some exemplary embodiments may further comprise enabling the emitter toemit the emitter identifier as a series of pulses ahead of the train ofpulses.

Some exemplary embodiments may further comprise emitting the emitteridentifier in an emitter identifier signal different from the locatingsignal.

Some exemplary embodiments may further comprise enabling the receiver toidentify the emitter by the emitter identifier.

Some exemplary embodiments may further comprise enabling the emitter toemit the train of pulses in a single burst, with the pulses having thesame or different strengths.

Some exemplary embodiments may further comprise enabling the emitter toemit repeated trains of pulses in repeating single bursts.

Some exemplary embodiments may further comprise enabling the emitter toemit the emitter identifier to include a location code.

Some exemplary embodiments may further comprise accessing the locationcode from an addressable network source and/or from memory.

Some exemplary embodiments may further comprise enabling the emitter toemit the locating signal intermittently, continuously or followingreceipt of an interrogatory or synchronizing signal.

Some exemplary embodiments may further comprise enabling the emitter toemit the locating signal at a carrier frequency selected from the groupcomprising: near infrared, far infrared, visible, ultra-violet, highfrequency radio, ultra wideband radio, and ultrasonic.

Some exemplary embodiments may further comprise enabling a first object,carrying the receiver, to travel relative to, toward or away from theemitter.

Some exemplary embodiments may further comprise enabling a secondobject, carrying the emitter, to travel relative to, toward or away fromthe receiver.

Some exemplary embodiments may further comprise, for each of the firstand the second emitters, the steps as defined in one or more of theaspects and/or exemplary embodiments of the present disclosure.

In another aspect, there is provided a method of locating a firstemitter and a second emitter, comprising:

-   -   enabling each of the first and second emitters to emit,        respectively, at least one first and second locating signal, the        first and second locating signals each including, at least in        part, a plurality of discrete pulses in a train of pulses;    -   enabling selected ones of a plurality of spaced receivers, at a        sensing location, to receive the first and second locating        signals, each of the receivers having an angular position value        associated with a designated angle of the receiver, relative to        a reference axis of the sensing location;    -   processing the first and second locating signals to form        respective first and second pulse values in relation to first        and second counts of pulses above a pulse strength threshold,        and correlating the first and second pulse values with the        corresponding receiver's angular position value to form first        and second pulse count values;    -   identifying a first aligned receiver associated with a first        maximum pulse count value as the first receiver aligned with the        first emitter, and attributing the first aligned receiver's        angular position value to an angular location value of the first        emitter relative to the reference axis; and    -   identifying a second aligned receiver associated with a second        maximum count value as the second receiver aligned with the        second emitter, and attributing the angular position value of        the second aligned receiver to an angular location value of the        second emitter relative to the reference axis.

Some exemplary embodiments may further comprise the first and secondemitters to configure a minimum strength of each pulse according to thepulse strength threshold.

Some exemplary embodiments may further comprise:

-   -   enabling the first and second emitters to change the strength of        each pulse from one pulse to another along the train of pulses;    -   attributing the first maximum pulse count value to a first range        value of the first emitter, relative to the reference axis; and    -   attributing the second maximum point count value to a second        range value of the second emitter, relative to the reference        axis.

Some exemplary embodiments may further comprise enabling the first andsecond emitters to emit a common locating signal.

In another aspect, there is provided a beacon device, comprising aplurality of emitters distributed along an emitter surface, each to emitat least one locating signal along a unique axis, the locating signalincluding, at least in part, a plurality of discrete pulses in a trainof pulses.

In some exemplary embodiments, the emitters may be distributed in asymmetric or asymmetric, spatial and/or or angular pattern along theemitter surface.

Some exemplary embodiments may further comprise a trigger circuitresponsive to an input to enable the beacon processor to initiate thelocating signal.

In some exemplary embodiments, the beacon may be configured to receiveor generate a synchronizing signal to control timing of the locatingsignal.

In some exemplary embodiments, the emitter surface may be curved orangled.

In some exemplary embodiments, the emitter surface being, at least inpart, spherical, prism, pyramidal, cylindrical, and/or conical.

In some exemplary embodiments, the emitter surface may be, at least inpart, spherical, with the emitters being distributed on the surface.

In another aspect, there is provided a device for locating an emitter,comprising a plurality of spaced receivers, at a sensing location, toreceive at least one locating signal from the emitter, each of thereceivers having an angular position value associated with a designatedangle of the receiver relative to a reference axis of the sensinglocation, the locating signal including, at least in part, a pluralityof discrete pulses in a train of pulses, at least one processorconfigured to:

-   -   process the locating signal received at each receiver to form a        pulse value in relation to a count of pulses above a pulse        strength threshold;    -   correlate the pulse value with the angular position value to        form a pulse count value, and    -   identify an aligned receiver associated with a maximum pulse        count value as the receiver aligned with the emitter; and    -   attribute the angular position value of the aligned receiver to        an angular location value of the emitter relative to the        reference axis.

In some exemplary embodiments, the strength of each pulse in thelocating signal, received by the receiver, changes from one pulse toanother along the train of pulses. In this case, the at least oneprocessor configured to attribute the maximum pulse count value to arange value of the emitter relative to the sensing location.

In another aspect, there is provided a locating device comprising aplurality of spaced receivers positioned on a receiver surface at asensing location, to receive at least one locating signal from a beacondevice as defined in the present disclosure, each of the receivershaving an angular position value associated with a designated angle ofthe receiver relative to a reference axis of the sensing location, thelocating signal including, at least in part, a plurality of discretepulses in a train of pulses, at least one processor configured to:

-   -   process the locating signal received at each receiver to form a        pulse value in relation to a count of pulses above a pulse        strength threshold;    -   correlate the pulse value with the angular position value to        form a pulse count value, and    -   identify an aligned receiver associated with a maximum pulse        count value, as the receiver aligned with the beacon device, and    -   attribute the angular position value of the aligned receiver to        an angular location value of the beacon device relative to the        reference axis.

In some exemplary embodiments, the strength of each pulse in thelocating signal, received by the receiver, changes from one pulse toanother along the train of pulses; the at least one processor configuredto attribute the maximum pulse count value to a range value of theemitter relative to the sensing location.

Some exemplary embodiments may further comprise an emitter configured toemit an interrogation signal to be recognized by the beacon device, tocause the beacon device to emit the locating signal.

In some exemplary embodiments, the receiver surface may be, at least inpart, curved or angled.

In some exemplary embodiments, the receiver surface may be, at least inpart, spherical, prism, pyramidal, cylindrical, and/or conical.

In some exemplary embodiments, the receiving surface may be, at least inpart, spherical, the receivers being distributed on the surface.

In some exemplary embodiments, the receiving surface may be, at least inpart, spherical, the receivers being distributed on the surface.

In another aspect, there is provided an assembly of interactive objects,comprising:

-   -   a first object having at least one first emitter and at least        one first receiver; and    -   a second object having at least one second emitter and at least        one second receiver;    -   the at least one first emitter and at least one second receiver        carrying out a method as defined in one or more of the aspects        and/or exemplary embodiments as defined in the present        disclosure; and    -   the at least one second emitter and at least one first receiver        carrying out a method as defined in one or more of the aspects        and/or exemplary embodiments as defined in the present        disclosure.

In some exemplary embodiments, the first and second objects may beselected from the group comprising:

-   -   i) motorized objects capable of moving relative to one another;    -   ii) motorized object and one or more stationary object;    -   iii) motorized toys capable of moving relative to one another;    -   iv) a movable device and a reference unit therefor;    -   v) a robotic device and a reference unit therefor;    -   vi) a robotic vacuum and a reference unit therefor;    -   vii) a camera, cell phone, vehicle, appliance and/or accessory,        and a reference unit therefor;    -   viii) a movable sport object from any one of archery, model        aircraft, badminton, football, baseball, volleyball, rugby,        tennis, basketball, golf, hockey, cricket, squash, tennis;    -   ix) a weapon and/or a projectile reference unit therefor; and    -   x) a wearable identity tag and a reference unit therefor.

In another aspect, there is provided a method for a locatorconfiguration to locate a locating signal emitter, comprising:

-   -   providing a plurality of spaced receivers, including a group of        receivers in respective locating signal-receiving angular        positions, each of the receivers having an angular position        coordinate value, stored in memory, associated with a designated        angle of the receiver relative to a reference axis;    -   enabling each receiver in the group of receivers to receive at        least one locating signal from the locating signal emitter, the        locating signal including, at least in part, a plurality of        pulses in at least one train of pulses;    -   enabling at least one locator processor, in communication with        the spaced receivers, at a first clock increment, to:        -   process the locating signal received at each receiver in the            group of receivers, to form a pulse count value in relation            to a count of pulses above a pulse strength threshold;        -   form a pulse count profile whose coordinates include each            pulse count value and the corresponding angular location            accessed from memory; and to        -   attribute a designated angular position coordinate value            corresponding to a maximum pulse count value in the pulse            count profile as a location value representative of at least            the heading of the emitter.

In some exemplary embodiments, the pulses in the train of pulses vary inpulse strength from one pulse to another, further comprising enablingthe at least one locator processor to attribute a range value to thelocating signal emitter, according to the maximum pulse count value. Theprocessor may be enabled to attribute at least the heading value to anemitter identifier to form a first set of emitter identity coordinates,and to store the first set in memory. The first set of coordinates mayinclude the range value. The processor may be enabled for at least asecond clock increment to form a second set of emitter identitycoordinates, and to store the second set in memory. The receiver may beenabled to receive the emitter identifier from the emitter or frommemory.

In some exemplary embodiments, the processor may be configured tocalculate the angular position value according to:

Angular Position Value=SUM[A[i]*E[i]]/SUM[E[i]],

-   -   for i=1, . . . , N    -   where “i” is the index of each receiver;    -   N is the total number of receivers;    -   A[i] is the angular position value of the receiver “i”; and    -   E[i] is the pulse count value of the receiver “i”.

In some exemplary embodiments, the designated angular position value maycorrespond to an angular position value of a receiver registering themaximum pulse count value. The designated angular position value may beadjacent or between one or more neighboring angular position values ofone or two receivers.

Some exemplary embodiments may further comprise enabling at least oneemitter processor, in communication with the emitter, to emit the atleast one locating signal with or without the emitter identifier. Theemitter processor may be enabled to configure a minimum strength of eachpulse according to the pulse strength threshold. The emitter may beenabled to change the strength of each pulse, or to fix the strength ofeach pulse, from one pulse to another along the train of pulses. Theemitter processor may be enabled to configure the emitter to emit theemitter identifier in the locating signal. The emitter identifier may beahead of the train of pulses.

In some exemplary embodiments, the emitter identifier may be, or be in,an emitter identifier signal different from the locating signal. Thelocating signal may include a single train of pulses in repeating singlebursts. The locating signal may include repeating trains of pulses inrepeating single bursts.

Some exemplary embodiments may further comprise enabling the emitterprocessor to configure the emitter to emit the locating signalintermittently, continuously or following receipt of an interrogatory orsynchronizing signal. The emitter processor may be enabled to configurethe emitter to emit the locating signal at a carrier frequency selectedfrom the group comprising: near infrared, far infrared, visible,ultra-violet, high frequency radio, ultra-wideband radio, andultrasonic.

Some exemplary embodiments may further comprise enabling the locatorprocessor to initiate an action in relation to the first and/or secondsets of coordinates. The initiating an action may include deploying adrive train, or issuing an instruction. The deploying a drive train mayinclude instructing the drive train to move toward, or away from, theemitter. The instruction may be a written message, such as an SMS textor the like, an audio or a graphical message. Further, the action may beconfigured according to a received instruction.

In some exemplary embodiments, the instruction may be retrieved frommemory, the locating signal or a received instructional signal.

In some exemplary embodiments, the emitters may be located over one ormore surface regions of an object, wherein the locating of an emitteridentifies an orientation of the object. The locating of an emitter mayidentify a portion of the object facing the receivers.

In some exemplary embodiments, the receivers are aligned, at least inpart, along a curve relative to the reference axis.

In some exemplary embodiments, the receivers may organized in adjacentrows, wherein the receivers in each row receive locating signals atdifferent angular positions corresponding to different heading anglevalues, at a common designated elevation angle, of the emitter.

In some exemplary embodiments, the receivers may be organized inadjacent rows, wherein the receivers in each row receive locatingsignals at different angular positions corresponding to differentheading angle values, at a common designated elevation angle, of theemitter, according to:

Heading=SUM[A[i]*E[i,j]]/SUM[E[i,j]], for i=1, . . . , N

Elevation=SUM[B[j]*E[i,j]]/SUM[E[i,j]], for j=1, . . . , M

-   -   for (i,j) being the index of each receiver, and N is the total        number of heading receiver elements, and M is the total number        of elevation receiver elements.    -   A[i] is the fixed heading angle of the receiver element “i”.    -   B[j] is the fixed elevation angle of the receiver element “j”.    -   E[i,j] is the IR pulse energy received at receiver element        “(i,j)”.

In another aspect, there is provided an assembly comprising a firstobject and a second object, each of the first and second objectsincluding at least one locator processor in communication with aplurality of receivers and configured to carry out one or more methodactions as defined in the present disclosure and/or claims, and at leastone emitter processor in communication with at least one emitter andconfigured to carry out one or more method actions defined in thepresent disclosure and/or claims herein.

In another aspect, there is provided a system for locating an emitter,comprising:

-   -   a plurality of spaced receivers, each of the receivers having an        angular position coordinate value, stored in memory, associated        with a designated angle of the receiver relative to a reference        axis;    -   each receiver configured to receive at least one locating signal        from the emitter, the locating signal including, at least in        part, a plurality of pulses in at least one train of pulses;    -   at least one locator processor, in communication with the spaced        receivers, the at least one locator processor configured to:        -   process the locating signal received at each receiver in a            group of receivers in respective locating signal-receiving            positions, to form a pulse count value in relation to a            count of pulses above a pulse strength threshold;        -   form a pulse count profile whose coordinates include the            pulse count values and corresponding angular locations; and        -   attribute a designated angular position coordinate value,            corresponding to a maximum pulse count value in the pulse            count profile, as a location value representative of at            least the heading of the emitter.

In some exemplary embodiments, the pulses in the train of pulses mayvary in pulse strength from one pulse to another, the locator processormay be configured to attribute a range value to the locating signalemitter, according to the maximum pulse count value. The locatorprocessor may be configured to attribute at least the heading value toan emitter identifier to form a first set of emitter locatingcoordinates, and to store the first set in memory. The first set mayinclude the range value.

In some exemplary embodiments, the locator processor may be configured,for at least a second clock increment, to form a second set of emitterlocating coordinates, and to store the second set in memory. The locatorprocessor may be configured to access the emitter identifier from theemitter or from memory.

In some exemplary embodiments, the locator processor may be configuredto calculate the angular position value according to:

Angular Position Value=SUM[A[i]*E[i]]/SUM[E[i]],

for i=1, . . . , N

-   -   where “i” is the index of each receiver;    -   N is the total number of receivers;    -   A[i] is the angular position value of the receiver “i”; and    -   E[i] is the pulse count value of the receiver “i”.

In some exemplary embodiments, the designated angular position value maycorrespond to an angular position value of a receiver registering themaximum pulse count value. The designated angular position value may beadjacent an angular position value of at least one receiver.

Some exemplary embodiments may further comprise at least one emitterprocessor, in communication with the emitter, and configured to enablethe emitter to emit the locating signal with or without the emitteridentifier.

In some exemplary embodiments, the emitter processor may be furtherconfigured to set a minimum strength of each pulse according to thepulse strength threshold. The emitter processor may be configured tochange the strength of each pulse, or to fix the strength of each pulse,from one pulse to another along the train of pulses. The emitterprocessor may be configured to enable the emitter to emit the emitteridentifier in the locating signal. The emitter identifier may be aheadof the train of pulses. The emitter identifier may be in an emitteridentifier signal different from the locating signal.

In some exemplary embodiments, the locating signal may include a singletrain of pulses in repeating single bursts. The locating signal mayinclude repeating trains of pulses in repeating single bursts. Theemitter processor may be configured to enable the emitter to emit thelocating signal intermittently, continuously or following receipt of aninterrogatory or synchronizing signal. The emitter processor may beconfigured to enable the emitter to emit the locating signal at acarrier frequency selected from the group comprising: near infrared, farinfrared, visible, ultra-violet, high frequency radio, ultra-widebandradio, and ultrasonic.

In some exemplary embodiments, the locator processor may be configuredto initiate an action in relation to the first and or second sets ofcoordinates. The action may include deploying a drive train. The actionmay be a text, an audio message, or graphical message. The localprocessor may be configured to select the action according to a receivedinstruction. The received instruction may be retrieved from memory, thelocating signal or a received instructional signal. The deploying adrive train may include instructing the drive train to move toward,and/or away from, the emitter.

Some exemplary embodiments may further comprise the drive train.

Some exemplary embodiments may further comprise a beacon with a bodydefining one or more surface regions, further comprising a plurality ofthe emitters located on said one or more surface regions. The receiversmay be aligned, at least in part, along a curve relative to thereference axis. The receivers may be organized in adjacent rows, whereinthe receivers in each row receive locating signals at different angularpositions corresponding to different heading angle values, at a commondesignated elevation angle, of the emitter.

In some exemplary embodiments, the receivers are organized in adjacentrows, wherein the receivers in each row receive locating signals atdifferent angular positions corresponding to different heading anglevalues, at a common designated elevation angle, of the emitter,according to:

Heading=SUM[A[i]*E[i,j]]/SUM[E[i,j]], for i=1, . . . , N

Elevation=SUM[B[j]*E[i,j]]/SUM[E[i,j]], for j=1, . . . , M

-   -   for (i,j) being the index of each receiver, and N is the total        number of heading receiver elements, and M is the total number        of elevation receiver elements.    -   A[i] is the fixed heading angle of the receiver element “i”.    -   B[j] is the fixed elevation angle of the receiver element “j”.    -   E[i,j] is the IR pulse energy received at receiver element        “(i,j)”.

In another aspect, there is provided an assembly comprising first andsecond objects, wherein the first object comprises the at least oneemitter and at least one emitter processor as disclosed in thedisclosure and/or claims herein, the second object comprising theplurality of receivers and at least one locator processor as disclosedin the disclosure and/or claims herein. The first and second objects maybe selected from the group comprising:

-   -   i) motorized objects capable of moving relative to one another;    -   ii) motorized object and one or more stationary object;    -   iii) motorized toys capable of moving relative to one another;    -   iv) a movable device and a reference unit therefor;    -   v) a robotic device and a reference unit therefor;    -   vi) a robotic vacuum and a reference unit therefor;    -   vii) a camera, cell phone, vehicle, appliance and/or accessory,        and a reference unit therefor;    -   viii) a movable sport object from any one of archery, model        aircraft, badminton, football, baseball, volleyball, rugby,        tennis, basketball, golf, hockey, cricket, squash, tennis;    -   ix) a weapon and/or a projectile reference unit therefor;    -   x) a drone and a reference unit therefor; and    -   xi) a wearable identity tag and a reference unit therefor.

In another aspect, there is provided a locator device comprising aplurality of receivers and at least one locator processor as defined inthe disclosure and/or claims herein.

In another aspect, there is provided a beacon device comprising at leastone emitter and at least one emitter processor as defined in thedisclosure and/or claims herein.

In another aspect, there is provided a method of locating a firstemitter and a second emitter, comprising:

-   -   a. enabling each of a plurality of spaced receivers, relative to        a sensing location, to receive a first locating signal from a        first emitter, and a second locating signal from a second        emitter, the first locating signal including, at least in part,        a plurality of pulses in a first train of pulses, the second        locating signal including, at least in part, a plurality of        pulses in a second train of pulses, each of the receivers having        an angular position value associated with a designated angle of        the receiver relative to a reference axis; and    -   b. enabling a processor to:        -   1. process the first and second locating signals received at            each receiver to form:            -   a. a first pulse count value in relation to a first                count of pulses above a pulse strength threshold to form                a first pulse count profile from the first pulse count                values; and            -   b. a second pulse count value in relation to a second                count of pulses above a pulse strength threshold to form                a second first pulse count profile from the second pulse                count values; and        -   2. attribute a location of the first emitter to a first            designated angular position value corresponding to a first            maximum pulse count value in the first pulse count profile;            and        -   3. attribute a location of the second emitter to a second            designated angular position value corresponding to a second            maximum pulse count value in the second pulse count profile.

In some exemplary embodiments, the first and second locating signals maybe the same.

In another aspect, there provided a beacon device, comprising aplurality of emitters distributed along an emitter surface, each to emitat least one locating signal along a unique axis. The locating signalmay include, at least in part, a plurality of discrete pulses in a trainof pulses.

In some exemplary embodiments, the emitters may be distributed in asymmetric or asymmetric, spatial and/or or angular pattern along theemitter surface.

Some exemplary embodiments may further comprise a beacon configuredprocessor to initiate the locating signal. The beacon processor may beconfigured to receive or generate a synchronizing signal to controltiming of the locating signal.

In some exemplary embodiments, the emitter surface may be curved orangled. The emitter surface may be, at least in part, spherical, prism,pyramidal, cylindrical, and/or conical. The may be distributed on thesurface.

In another aspect, there is provided a locating device comprising aplurality of spaced receivers positioned on a receiver surface relativeto a sensing location, to receive at least one locating signal from abeacon device as defined in the disclosure and/or claims herein, each ofthe receivers having an angular position value associated with adesignated angle of the receiver relative to a reference axis of thesensing location, the locating signal including, at least in part, aplurality of discrete pulses in at least one train of pulses, and atleast one processor configured to:

-   -   process the locating signal received at each receiver to form a        pulse value in relation to a count of pulses above a pulse        strength threshold;    -   correlate the pulse value with the angular position value to        form a pulse count value, and    -   identify an aligned receiver associated with a maximum pulse        count value, as the receiver aligned with the beacon device, and    -   attribute the angular position value of the aligned receiver to        an angular location value of the beacon device relative to the        reference axis.

In some exemplary embodiments, the strength of each pulse in thelocating signal may change from one pulse to another along the train ofpulses. The at least one processor may be configured to attribute themaximum pulse count value to a range value of the emitter relative tothe sensing location.

Some exemplary embodiments may further comprise an interrogation emitterconfigured to emit an interrogation signal to be recognized by thebeacon device, to cause the beacon device to emit the locating signal. Adrive train may be provided to be responsive to an instruction signal tomove the device relative to the beacon.

In another aspect, there is provided a device for locating at least oneemitter, comprising an array of receivers configured in differentangular positions about the array relative to a corresponding arraylocation axis, to receive a signal from the emitter having at least oneburst containing a train of pulses, and at least one processorconfigured to profile pulse count values at each receiver, from onereceiver to another in the array in relation to their respective angularpositions, to designate a maximum peak angular position associated witha maximum pulse count value, and to attribute the peak angular positionto an angular emitter location.

In some exemplary embodiments, the peak angular position may beassociated with a weighted average of pulse count values for adesignated time. The angular emitter location may be linked to the peakangular position of the receiver registering a maximum pulse countvalue. Each pulse count value may be associated with a count of pulsesreceived by the receiver, according to successive changes of state ofthe receiver for each pulse received. Each pulse count value may beassociated with a time period during which the receiver remainscontinuously in an ON state for the train of received pulses.

In some exemplary embodiments, the processor may be configured to plot apath toward at least one designated waypoint, according to the angularemitter location, and to issue one or more instructions to initiatemovement toward the waypoint. A drive train be provided and configuredto move the device toward the waypoint.

In some exemplary embodiments, the processor may be configured to issueinstructions for one or more autonomous functions internal or externalto the device.

In some exemplary embodiments, a plurality of the emitters may belocated at separate locations in an interior or exterior region, therebyto define an associated signal-receiving zone for the receiver array.

In another aspect, there is provided a device as defined herein, whereinthe device may be selected from the group comprising;

-   -   a. a motorized object;    -   b. a motorized toy;    -   c. a movable device;    -   d. a robotic device;    -   e. a robotic vacuum;    -   f. a camera;    -   g. a cell phone or smart phone;    -   h. an appliance;    -   i. a movable sport object from any one of archery, model        aircraft, badminton, football, baseball, volleyball, rugby,        tennis, basketball, golf, hockey, cricket, squash, tennis;    -   j. a weapon and/or a drone; and    -   k. an accessory to any one or more of a. to j.

In another aspect, there is provided a method of interacting a targetobject with a tracking object, comprising:

-   -   providing a tracking object with an array of spaced receivers to        be positioned relative to a tracking location, each of the        receivers having an angular position value associated with a        designated angle of the receiver relative to a reference axis,        and at least one action output to initiate an action in relation        to the target object;    -   enabling the receivers to receive a locating signal from an        emitter onboard a target object, the locating signal including,        at least in part, a plurality of pulses in a train of pulses;    -   assembling pulse count values, each associated with a count of        pulses received by those receivers oriented in signal-receiving        positions relative to the target object;    -   associating the angular positions of the signal receiving        receivers to their corresponding pulse count values to identify        an angular position corresponding to a maximum pulse count        value, as an angular target location of the target object; and    -   enabling the action output, in relation to the angular target        location.

In some exemplary embodiments, the pulses in the train of pulses mayvary in strength from one pulse to another, further comprisingidentifying a range of the target object relative the reference axis,according to the maximum pulse value.

In some exemplary embodiments, action output is operatively coupled to adrive train for displacing the tracking object.

Some exemplary embodiments may further comprise:

-   -   a. for a first time period, mapping a first waypoint relative to        the angular location; and    -   b. enabling the action output includes enabling the drive train        to displace the tracking object toward the first waypoint.

Some exemplary embodiments further comprise:

-   -   c. for a second time period, identifying an updated angular        position of the target object;    -   d. mapping a second waypoint relative to the updated annular        position; and    -   e. enabling the drive train to displace the tracking object        toward the second waypoint.

In some exemplary embodiments, the mapping may include accessing astored geographical descriptor corresponding to an interim valueaccording to one of the waypoints, and correcting the interim valueaccording to the angular location to form the waypoint.

In another aspect, there is provided a local navigation system,comprising

-   -   a. a plurality of beacons for positioning at designated spaced        locations in a travel region, each beacon including at least one        emitter configured to emit a locating signal;    -   b. a locating device moveable in the travel region relative to        the beacons, the locating device comprising:        -   ii. a receiver array of spaced receivers to be positioned            relative to a tracking location, each of the receivers            having an angular position value associated with a            designated angle of the receiver relative to a reference            axis;        -   iii. a drive train to move the locating device through the            travel region; and        -   iv. at least one processor in operative communication with            the receiver array and the drive train, the processor            configured to:            -   1. enabling the receivers to receive locating signals                from the emitters, each locating signal including, at                least in part, a plurality of pulses in a train of                pulses;            -   2. for each train of pulses received, associating a                pulse count value according to a number of pulses                received in the train, with an angular position of the                corresponding receiver;            -   3. from the pulse count values for the locating signal                received from each beacon, identifying a maximum pulse                value and attributing the beacon with the corresponding                associated angular position to form a first positional                array of angular positions;            -   4. form a first waypoint in the travel region relative                to the first positional array; and            -   5. initiating the drive train toward the first waypoint;            -   6. repeating 2 and 3 to form a second positional array;            -   7. form a second way point in the travel region relative                to the second positional array; and            -   8. initiating the drive train toward the second                waypoint.

In another aspect, there is provided a method for locating an least oneemitter, comprising receiving, from each receiver in an array ofreceivers configured in different angular positions about the arrayrelative to a corresponding array location axis, one or more outputscorresponding to a train of pulses in a locating signal received fromthe emitter, processing the outputs to obtain a pulse count values, toprofile the pulse count values at each receiver, from one receiver toanother in the array in relation to their respective angular positions,to designate a maximum peak angular position associated with a maximumpulse count value, and to attribute the peak angular position to anangular emitter location.

Additional functions, objects, advantages, and features of the presentinvention will become apparent from consideration of the followingdescription and drawings of exemplary embodiments.

BRIEF DESCRIPTION OF THE DRAWINGS

Several exemplary embodiments will be provided, by way of examples only,with reference to the appended drawings, wherein:

FIG. 1 is a schematic view of a beacon device and a locating device;

FIG. 1a is an enlarged view of the beacon device of FIG. 1;

FIG. 1b is an operational schematic view of aspects of the beacon andlocating devices of FIG. 1.

FIG. 2 is a schematic view of multiple beacon devices and a locatingdevice;

FIG. 3 shows schematic views of a beacon device and a locating device;

FIG. 4 is a schematic view showing features of the beacon device andlocating device of FIGS. 1 to 3;

FIGS. 5a, 5b and 5c are schematic views of a time-slotted communicationprotocol using a timing pulse, while FIGS. 5d and 5e are schematic viewsof locating signal configurations;

FIG. 6 is an operational schematic view of the beacon and locatingdevices of FIGS. 1 to 3;

FIGS. 7a, 7b and 7c are schematic views of plots of angular positionversus pulse count value for an example operation of a beacon andlocating device of FIGS. 1 to 3;

FIG. 8 is a perspective schematic view of an operational configurationfor a method of using beacons to triangulate the position of a receiverarray on a robotic device;

FIG. 9 is a perspective schematic view of an operational configurationfor a method of plotting waypoints and using heading angles to plot aguided path for a robot; and

FIG. 10 is a perspective schematic view of an operational configurationfor guiding a robotic device back to a docking station using beacons.

DESCRIPTION OF THE EXEMPLARY EMBODIMENTS

It should be understood that the invention is not limited in itsapplication to the details of construction and the arrangement ofcomponents set forth in the following description or illustrated in thedrawings. The invention is capable of other embodiments and of beingpracticed or of being carried out in various ways. Also, it is to beunderstood that the phraseology and terminology used herein is for thepurpose of description and should not be regarded as limiting. The useof “including,” “comprising,” or “having” and variations thereof hereinis meant to encompass the items listed thereafter and equivalentsthereof as well as additional items. Unless limited otherwise, the terms“connected,” “coupled,” and “mounted,” and variations thereof herein areused broadly and encompass direct and indirect connections, couplings,and mountings. In addition, the terms “connected” and “coupled” andvariations thereof are not restricted to physical, mechanical orelectrical connections or couplings. Furthermore, and as described insubsequent paragraphs, the specific mechanical and/or electrical, otherconfigurations illustrated in the drawings are intended to exemplifyembodiments of the invention. However, other alternative mechanicaland/or electrical or other configurations are possible which areconsidered to be within the teachings of the present disclosure.

FIG. 1 shows a beacon device at 10 with at least one, in this case aplurality of emitters 12 which are distributed along an emitter surface14. Each emitter 12 is configured to emit at least one locating signal16 along a unique axis 18. The locating signal 16 includes, at least inpart, a plurality of discrete pulses in a train of pulses. The locatingsignal, in particular the train of pulses, is described in furtherdetail in published PCT application PCT/CA2010/000095, which isincorporated herein by reference.

Also shown in FIG. 1 is a device 20 for locating the beacon device 10,by identifying one or more of the emitters 12. The locating device 20has a plurality of spaced receivers 22, arranged relative to a sensinglocation 24, to receive at least one locating signal 16. In this case,the spaced receivers 22 are distributed an arc relative to the sensinglocation 24, though they may be distributed along, or grouped in, one ormore linear or curvilinear patterns or clusters. Each of the receivers22 has an angular position value which is associated with a designatedangle of the receiver relative to a reference axis 25 of the sensinglocation 24. For instance, receivers 22 a and 22 b have respectiveangular positions represented by corresponding angles α and β relativeto the reference axis 25.

In this case, each emitter 12 is configured to emit a locating signal 16including, at least in part, a plurality of discrete pulses in at leastone train of pulses. The locating device 20 includes at least oneprocessor 30, which may be integrated within the functions of, beprovided by or be in communication with a computer 32, local to thelocating device or accessible thereto via a computer network.(Alternatively, a processor 30 may be associated with each receiver 22.)In the case of the device 20, the processor 30 may be configured toprocess the locating signal received at each receiver 22 to form a pulsevalue in relation to a count of pulses above a pulse strength threshold.In the case where the beacon device has a single emitter 12, theprocessor 30 is configured to correlate the pulse value with the angularposition value to form a pulse count value, to identify an alignedreceiver associated with a maximum pulse count value as the receiveraligned with the emitter; and to attribute, for example, the angularposition value of the aligned receiver, in this case receiver 22 a, toan angular location value of the emitter relative to the reference axis.For cases where the beacon device 10 has a plurality of emitters 12, asshown in FIG. 1, the emitters may be configured to identify themselvesto the receivers 22, and thus enable the one or more processors 30 todiscriminate between signals from each of them, as will be describedbelow.

Among other approaches, responsive to the receivers 22, the processor 30may be configured to determine the angular location of an emitter 12,and thus the beacon device 10, to detect the maximum pulse count value,for example according to:

Maximum Pulse Count Value=SUM[A[i]*E[i]]/SUM[E[i]], for i=1, . . . , N

-   -   for “i” being the index of each receiver, and N is the total        number of receivers;    -   A[i] is the angular position value of the receiver “i”; and    -   E[i] is the pulse count value of the receiver “i”.

Thus, the Maximum Pulse Count Value corresponds to an angular positionvalue and may correspond, in some cases, to the angular position of oneof the receivers. In other cases, the Maximum Pulse Count Value maycorrespond to an interpolated or extrapolated position relative to theangular positions of two or more receivers.

This exemplary protocol involves counting pulses above the pulsestrength threshold, which may be configured by the processor accordingto various conditions, such as the nature of the medium, the strength ofthe emitters, among others. For expected shorter ranges, or distances,between the emitters and the receivers, the threshold may be set at ahigher level, and likewise set at a lower level for longer ranges. Theemitters may be selected to provide a pulse strength that remains fixedduring the course of operation and may be a factory set configuration.Alternatively, or in addition, the emitters 12 may be configured toprovide an adjustable minimum strength of each pulse according to thepulse strength threshold.

The emitters 12 may also be configured to change the strength of eachpulse from one pulse to another along the train of pulses. Doing soallows the processor 30 to attribute the maximum pulse count value to arange (or distance) value of the emitter relative to the sensinglocation.

In one example, the maximum pulse count value may be determinedaccording to:

Maximum Pulse Count Value=MAX[E[i]], at A[k], for i=1, . . . , N,

-   -   where “i” is an index value corresponding to each receiver, and        N is a total number of receivers,    -   A[i] is the angular position value of the receiver “i”.    -   E[i] is the pulse count value of the receiver “i”.    -   “k” is the aligned receiver, and    -   A[k] is the angular location value.

FIG. 1a shows a magnified view of the beacon device 10. FIG. 1billustrates an operational example of a method deployed by the processor30 in the device 20. In this case, an emitter 14, for example from thebeacon device 10, is shown to emit a locating signal 16, in this examplean IR signal, which is strongest (at Emax) along its axis 18, anddiminishes in signal strength with increasing angular deflection awayfrom the axis 18 to a diminished value level (Edim), towards zero. Ofcourse, this signal pattern or waveform of the emitter, giving rise tothese relative signal strengths, will depend on the specifications ofthe emitter in question. For instance, emitters may be selected withwide-angle or narrow-angle emitted signal characteristics. Exampleinfrared emitters include Vishay TSAL6100 beam=20 deg, Vishay TSAL6200beam=34 deg, Vishay TSAL6400 beam=50 deg, OSRAM SFH4545, beam=10 deg,OSRAM SFH4646-Z, beam=20 deg, The term “beam” in this example, such asbeam=20 deg, is intended to mean plus/minus 10 deg on either side of thebeam's boresight or central axis as an example. The beam angle ismeasured as the angle when the beam becomes half as strong as it is onthe boresight (i.e. the angle of maximum strength).

The locating signal is to be received by a series of receivers 22,angularly positioned at corresponding known angles relative to a sensingaxis 25 (relative to the sensing location 24). A cluster or group of thereceivers 22 are shown as part of an array and extending, at least inpart, along the periphery of a receiver surface shown schematically at26, with the receivers in line-of-sight relationship with the emitter.Of course, the extent of the receiver distribution will depend onvarious factors for a particular application of the device and/ormethod. A central receiver 22 a of the cluster shown, has an axis whichis essentially in line-of-sight, and in this case “head on”, with theemitter 14, and thus will receive relatively the strongest signal Pmax.Meanwhile, each of the receivers, which is laterally spaced fromreceiver 22 a, receives a progressively weaker signal, owing to theprogressive angular deflection of the axis of those receivers relativeto the axis of the emitter 12. In this illustration, the axis 18 of eachof the receivers in the cluster is shown as integrated with the strengthof the locating signal received. For instance, receivers 22 b and 22 care shown to receive a diminished signal Pdim (of this cluster ofreceivers 22). With the angular position of the receivers known, by wayof the reference axis 25, the receiver 22 a receiving locating signalPmax can be identified as the aligned receiver, that is aligned with theaxis of the emitter 14, and thus the relative position of the emittercan be associated with the angular position of receiver 22 a. Of course,FIG. 1b illustrates a two dimensional condition and this approach may beextended to a three dimensional configuration when the receiver surfaceis oriented accordingly, as for example as shown in FIG. 3, with threerows of receivers 22.

Further, in the case of multiple emitters as shown on the device 10 ofFIG. 1, the emitters 12 may be configured to emit an emitter identifier,which may be made or packaged in the locating signal, such as a seriesof pulses ahead of the train of pulses. Alternatively, the emitteridentifier may be emitted in an emitter identifier signal which isdifferent from the locating signal. For instance, the emitter identifiersignal may be conveyed in a signal over a wireless channel between thebeacon device 10 and the locating device 20. The purpose of doing thisis to send the wireless data ahead of the range-code so that it can bereceived by the appropriate receiver device, to synchronize and toidentify the transmitting device ahead of the range-code so the receiverknows which device to associate the range and heading with.

The emitters 12, in this case, are configured to emit the train ofpulses in a single burst or in a series of single bursts. During ongoingoperation of the emitters 12 and receivers 22, the emitters are enabledto emit repeated trains of pulses in repeating single bursts.

In some cases, the emitters may be configured to integrate a locationcode in the emitter identifier. In some cases, the location code may beassociated with a location value which may be accessed from anaddressable network source and/or from memory as shown at 34.

The emitters 12 may be configured, in some exemplary embodiments, toemit the locating signal intermittently, continuously or followingreceipt of an interrogatory or synchronizing signal, as may be providedby interrogator 36.

In this case, the locating signal is an IR signal, though it may bedeployed with a carrier frequency selected from the group comprising:near infrared, far infrared, visible, ultra-violet, high frequencyradio, ultra-wideband radio, and ultrasonic.

Thus, as shown in FIG. 1, the one or more emitters 12 may be integratedinto a first object, in this case the beacon 10, while the locatingdevice, or components or operative modules thereof, may be integratedinto a second object, in this case the locating device 20. The secondobject may thus be configured to travel relative to, toward or away fromthe emitter 12 and, hence, the beacon 10. Further, if desired, the firstobject may be configured to travel relative to, toward or away from thesecond object.

In the case of the exemplary embodiment of FIG. 1, the beacon device 10is provided as a beacon ball to be carried by a user (or perhaps thrown,rolled and the like in other activities), and is configured to sendlocating signals, such as infrared (IR) signals to the locating device20, in this case a toy object such as a toy robot, represented in thiscase, again, at 20 in FIG. 1. The beacon ball 10, in one example, may beconfigured to function in a manner to attract the toy robot, hence tofollow the user carrying the beacon ball. This technical activity givesthe user the sensation that the toy robot is attracted to or attackingthe user depending on the game-play required. Thus, the beacon ball 10is configured to send the repeating IR signal using an even transmittingdistribution of IR signals to provide effective locating signal coverageover the beacon ball outer surface, while the toy robot is configured todetect the same signal from any one of the emitters 12, to decode thecommunication data, and determine the range and heading of the emitter12 and thus the beacon ball. However, there may be cases where thebeacon ball device may provide a number of emitters 12 which providedifferent signals, for instance according to their location on thebeacon ball, in order to establish a position or orientation of thebeacon ball according to the pulses received by the corresponding localposition (relative to the device itself) of the aligned emitter 12. FIG.2 shows a variation in which a plurality of beacons 10 are shown, whichare monitored by a common locating device 20.

Exemplary beacons of the present disclosure thus may be used in systemsproviding the means to determine location, positioning, and orientationof an object with respect to a beacon. Such systems may employ multipleactive beacons that can provide a means to determine the location of anobject in the environment. Such a system may also be configured to guidean object to a destination beacon, or to a location associated with orin relation to one or more such beacons, based on a plurality ofreceivers. Examples of this beaconing approach may be used to guidepeople with cell phones to a specific sales area in a mall or store,such as to provide directions to the cell phone user toward the store ofinterest, a robot or drone through and to a specific position within abuilding or household, or to guide a toy automatically to a destinationbeacon or to a coordinate position determined by a plurality of beacons.In other cases, such systems may provide location, positioning, andorientation of a beacon, for instance, relative to a locating device,for instance where a number of emitters distributed on the beaconsurface are identifiable and a maximum pulse count value from anidentifiable emitter indicates that the surface neighboring the emitteris facing the locating device.

Exemplary systems of the present disclosure may be configured to becapable of determining spatial location which may be based on low costinfrared equipped devices and infrared beacons. Outdoor situatedinfrared beacons that broadcast a unique identification number may belocated, with improved accuracy, outdoors using differential GPS in aone-time procedure (since the location of the stationary beacon may insome cases only need to be determined once, when situated on animmovable structure.) Indoor situated infrared beacons that broadcast aunique identification number may be more precisely located indoors usingarchitectural plans in combination with accurate survey maps or externalGPS of the building, by associating the unique identification numberwith a specific location value for each beacon. Relative location mayalso be provided in improved configurations. For example, each room inan office building may be equipped with a unique identification number,and geographic references may be made with respect to room numbersrather than a three dimensional (x,y,z) absolute position. Whetherabsolute or relative positioning is used, the location information maybe linked to the unique identification number available over theInternet or through local database spatial localization services. Inoperation, a portable computing device, equipped with an infraredreceiver may receive the data signal from the infrared beacon, enablingincreased precision determination of physical location, both indoors oroutdoors. In certain exemplary embodiments, a GPS receiver integratedwith a portable computer may be used to roughly determine location, withmore precise positioning being handled by reference to infrared beacons.

In an exemplary embodiment, a beacon device, of the present disclosure,may be integrated into conventional transmitter housings suitable forindoor or outdoor usage. The beacon may be a freely moving device withone or a plurality of transmitters affixed to the beacon frame, and/orfixed to a wall or ceiling, or the body of a fixed or moving structure.The infrared beacon may include a light source that is optionallyattachable to lighting fixtures that supply electrical power at adetermined voltage and a voltage converter electrically and physicallyconnected to the light source. It may be necessary for the transmittingdevice to have a reduced supplied voltage. For indoor usage, electricalpower is typically supplied at 110 Volts AC, and is converted to lessthan 5 or 6 volts DC by the voltage converter. For stand-alone usage,the transmitting device may be powered by a battery, or use electricallyenergy harvested by thermal, solar, vibration, or mechanical sources.

In an exemplary embodiment, a beacon in operation powered by a voltageconverter, may continuously, intermittently, or in response to aninterrogatory signal, broadcast a data signal as well as a rangemeasurable signal. This data signal may be predetermined, and istypically a series of infrared pulses adhering to common transmittableIR carrier frequencies (like 38 KHz and 56 KHz). In certain embodiments,a microcontroller and oscillator may be provided to trigger themicrocontroller to initiate the electrical pulse train resulting inbroadcast of the data signal. Alternatively, a trigger circuit may beprovided which is responsive to infrared, optical, physical (e.g.pushbutton or switch), or radio frequency input, alone or in combinationwith a microcontroller or oscillator circuit, to initiate broadcast ofthe data signal.

In an exemplary embodiment, an infrared receiver array is providedincluding common receiver array modules arranged in a symmetric spatialor angular pattern about the receiver device frame. The receiverelements may be typically arranged in a symmetric configuration todetermine the range of the transmitter as well as the received headingor azimuth orientation angles. Each receiver element may be a completeinfrared receiver module (like those used in standard TV's, for examplea TSSP4038 developed by Vishay Microelectronics), or as a separate diodeand infrared signal pre-processor circuit. All receiver elements may beelectronically connected to a microprocessor to further process thepositional coordinates and orientation angles. In general, the receiverelements may be configured to determine the range and angle of theincoming beacon signal by using a spaced and angled relationship betweenall receiver elements, to calculate the position coordinates of thebeacon, relative to the receiver unit.

In some exemplary embodiments, a base unit may be provided thatcoordinates a receiver array including a plurality of receivers thatreceive the signals from the one or more emitters, to process thereceived signals and determine the one or more emitters, as a measuredrange or distance away from, and at a specific or designated anglerelative to, the position and orientation of the receiver array.

In some exemplary embodiments, an emitter array including a plurality ofemitters may transmit a signal that sends an identification of thetransmitting unit, as well as a specific ranging “code” orcharacteristic that can be detected by the receivers. The ranging codeis typically a burst of carrier modulated pulses that vary in amplitudeor signal strength, that are further arranged in an incrementing ordecrementing order. The ranging code may not be restricted to a rampedincrement or decrement, as the code can also be a series of interleavedbut amplitude varying pulses (see FIG. 5d ). Another approach is to usea nonlinear ramped code of amplitude varying pulses that can be tailoredto the range profile of interest, for example using a quadratic varyingamplitude variation or a “J” shaped amplitude profile. Ranging ordistance calculation may be determined at the receiver as a pulse widthwhere the “high” pulse state occurs where the receiver diode isactivated, and a “low” pulse state occurs where the receiver diode isnot activated. The length of the received pulse or pulses in the pulsetrain may thus, in some cases, be used to determine the range, as arelated value to a count of the pulses in the same time period.

In an exemplary embodiment, the receivers in the array may be affixed toa stationary or movable frame, structure, assembly, object or the like,for example positioned in a symmetric or asymmetric manner about acentral location on a circuit board. The receivers, in this case, areconfigured to point outward so as to receive signals from a wide angle,as shown in FIG. 1. Similarly, the array of receivers may be in a circleto determine a heading and azimuth angle from the emitter elementsrelative to a reference angle. Similarly the receivers may be positionedon a sphere to allow the receivers to determine spaced relation andangle relation coordinates in 3D using ranging, and heading and azimuthangles, as shown in FIG. 3.

In an exemplary embodiment, a system may be provided with a plurality ofinfrared emitters and receivers as a combination of a plurality ofemitter devices positioned in 3D, which emitters are configured totransmit signals that send identifying signals, functional commandsignals, and signals characterizing their range, possibly among othersignals. The signals are received by one or more receivers which may bea symmetric or asymmetric array either as a partially curved surfacecontaining multiple receivers or as a complete circle or sphericalconfiguration, as shown in FIG. 3. This figure illustrates a receiverconfiguration where receivers are arranged in a full circle in the planview, and the heading angle is measured from zero to 360 degrees, butthe elevation is only measured over a partial angle. Of course, theelevation angle detected may be increased with increasing “rings” ofreceivers on the spherical receiver surface 46.

In an exemplary embodiment, as shown in FIG. 4, a beacon device 50 islocated by a locating device 51. The beacon device 50 is operated by anemitter processor 52 and powered by an external power source 54 (such asa battery or the like), and switchable by a power/mode switch 56. Theemitter processor 52 is configured to control the signaling of theemitter array 58 using a combination of data signaling and range burstsin the form of signals which propagate through the medium and arereceived substantially simultaneously to be processed by the receiverarray 60 and specifically by receiver processor 62. The receiver array60 is powered by a switch 64, and from an external power supply 65 (suchas a battery or the like), and the receiver array 60 is automaticallycontrolled by receiver processor 62 to operate configured autonomousfunctions, to communicate heading and range information internally orexternally, that is to other functional units within the receiver or toother functional units within a larger system deploying range andheading detection activities. Output functions may be conveyed to outputaudio speakers 66 or external LED's, or using wireless devices 68(Bluetooth, IRDA, WIFI, or the like), to output wireless data forexternal control purposes. The processor may also be responsive tovarious sensors 70 which may perform a variety of functions. Examples ofsuch sensor functions are: the detection of ambient light, motiondetection, temperature changes, vibration, and inertial sensing such asrotation or linear acceleration. The processor may also communicate witha drive train 72 to issue navigational commands in response to thedetected angular location, and in some cases range, of the beacon 10.

The processor 62 may be configured to send audio instructions to a usercarrying the locating device 51, such as in a cell phone, via the outputaudio speakers 66, as an output action, following the location of thebeacon device 50. Such instructions may also be graphical instructionsconveyed to the user by way of a display shown at 66 a, by the use ofdirectional arrows or a GPS-like-map interface or the like. Further, theaudio instructions, via audio speakers 66, and/or graphical instructionsby way of display 66 a, may be delivered successively, in a GPS-likefashion, as the locating device moves relative to the beacon, or viceversa, as the locating device 51 updates the location of the beacon 50.

In some exemplary embodiments, multiple beacons may be configured tocommunicate identification data and ranging data to a receiving arrayusing a communication protocol. The communication protocol may be afixed structure preamble built into the communication signal structurefollowed or preceded by a ranging signal protocol as shown in FIGS. 5ato 5c, 5d and 5e . The communication protocol may also include a timingslotted protocol based on assigning beacons to a fixed time-slot basedon a synchronized timing signal, as shown in FIGS. 5a to 5c . In FIG. 5a, a communication protocol can include an identifier, real-time data,and any means of encrypting the data, and using a scheme for checkingaccuracy (such as a CRC check-sum for example). Examples of protocolsfor communication with pulse burst ranging are: using a communicationpreamble followed by a ranging signal burst arranged in a time-slottedconfiguration (see FIG. 5b ); and arranging the ranging signal bursts inan order that indicates a binary signal (see FIG. 5c ). Another examplemay include no synchronization altogether and multiple beacons arerandomly transmitting to the receiver array. Applicable communicationprotocols may also be deployed using a sequence of binary coded rangingbursts arranged suitably in an order that conveys a binary sequencereminiscent of the identification or data signal transmitted from aspecific beacon, as shown in figures, which may be used in conjunctionwith known protocol stacks for Bluetooth, and other wirelessapplications.

In some exemplary embodiments, multiple beacons may be configured totransmit communication data (identification, mode data) and rangingsignal bursts in an asynchronous manner. Data types can be deviceidentification information and the mode of the game-play (such astracking, following, and “fire” states, as an example). In this case, areceiver may be configured to acquire beacon data and determine if thedata received is valid and not corrupted by another beacon transmittingovertop at the same time. If communicated data is corrupted then thereceiver may be configured to reject the data packet and correspondingranging burst. Such a scheme is similar to an internet wireless or wiredprotocol for accepting or rejecting data packets.

In some exemplary embodiments, a synchronizing signal may be deployed tocontrol the timing slotting of communication signals to send binarycoded data, as well as ranging signal bursts. The synchronizing signalsmay, for example, be a series of fixed time pulses transmitted with afixed delay apart from each other. The origin of such timing pulses maybe from various sources that involve one single clocking mechanism. Forexample, a GPS receiver may be used to receive atomic clock timed pulsesfrom a GPS satellite, or a Bluetooth radio may send regularly timedpulses through the wireless network. In either case a beacon device maybe configured with a synchronizing pulse receiver thereby to enable thebeacon to emit the synchronous pulses at specific time-slots accordingto the received synchronizing pulse. Similarly, the receiver array mayalso be configured with a synchronizing pulse receiver to acquire thesynchronous pulses to allocate the receiver time-slots for eachtransmitting beacon.

Some exemplary embodiments may deploy a wireless method of communicatingdata to and from the beacon. This approach may not necessarily requirethat ranging bursts be encoded using a timed method. However, thewireless data packets may be sent at approximately the same time or innear-synchronous timing to the range burst, to allow the receiver arrayto associate the received identification data packet with the receivedranging burst. This approach, though more complex and costly, mayjustify such costs by enabling identification data to be sentindependently from the ranging bursts, which may in some cases enablemore efficient or improved management of asynchronous operation of thebeacon/receiver communication protocol.

Some exemplary embodiments may configure the structure of the receiverarray to calculate the range of the incoming beacon signal, as shown inFIG. 5d , the beacon may be configured to send out a burst of pulsesthat vary in signal strength, such as a ramped up signal, ramped downsignal, or log-ramped signal or the like. Thus, the receiver arrayelement may switch-on depending on the range. In this way, a train ofreceived pulses may cause the receiver array element to switch-on forthe duration of the train of pulses, where the first pulse in the trainswitches on the receiver array, and the last pulse is followed by thereceiver array switching off.

An exemplary method for calculating the incoming range may be based onfinding the maximum IR energy received for a specific range and headingas follows:

Range=MAX[E[i]], at A[k], for i=1, . . . , N

-   -   For “i” being the index of each receiver element, and N is the        total number of receiver elements,    -   A[i] is the fixed angle of the receiver element “i”.    -   E[i] is the IR pulse energy received at receiver element “i”.    -   “k” is the receiver element that received the maximum energy,        and A[k] is the angle of that receiver.

This calculation for the range may be deployed in cases when a pluralityof receivers are used for the receiver array, such as ten or more, as anexample. An example is shown in FIG. 6, in which a number of receivers22 are configured in a receiver array 60 to receive IR energy from abeacon device 50 with multiple emitters in an emitter array 58. In thisexample, a maximum range is a received pulse width of 60% of maximumpower and the maximum energy is received at 220 deg. If a large numberof receivers 22, such as 32 for example, are deployed, then a maximumrange calculation may be based on a group of range energies that arenormally distributed, where the maximum energy occurs at the maximumheight of the normal curve, and this maximum occurs at an estimatedheading angle of 220 deg (as shown in FIG. 6), which corresponds to aspecific receiver.

FIGS. 7a to 7c illustrate an example of determining or estimating angleand range with fewer receiver elements (in this case eight receivers areused). In this case, each peak P is the peak of an associated receiver,with eight peaks (the two end half-peaks being counted as one peak)shown in FIG. 7a . FIG. 7b shows the example of a Pmax signal receivedby the central receiver, and the outer two Pdim signals, all above thethreshold as shown. FIG. 7c shows a curve or profile following a bestfit analysis, indicating the estimated heading indicated by the locationof the group, represented by arrow A, on the horizontal axis, with therange estimated by the height of the arrow A. In this case, arrow A doesnot align with a specific angular position of a receiver, but ratherfalls on a coordinate axis of angular points either adjacent one pointfor a receiver or between two points corresponding to adjacentreceivers. In some exemplary embodiments, a receiver array may beconfigured to calculate heading (or bearing) angle of the incomingbeacon signal, as shown in FIG. 3. Similarly, the array structure of thereceiver array may be configured to calculate an elevation angle of theincoming beacon signal. An exemplary method for calculating the incomingbeacon heading angle may be based on a calculation for heading using aweighted average as follows:

Heading=SUM[A[i]*E[i,j]]/SUM[E[i,j]], for i=1, . . . , N

Elevation=SUM[B[j]*E[i,j]]/SUM[E[i,j]], for j=1, . . . , M

-   -   for (i,j) being the index of each receiver element, and N is the        total number of heading receiver elements, and M is the total        number of elevation receiver elements.    -   A[i] is the fixed heading angle of the receiver element “i”.    -   B[j] is the fixed elevation angle of the receiver element “j”.    -   E[i,j] is the IR pulse energy received at receiver element        “(i,j)”.

Applying the above to FIG. 3, the value of N for the number headingreceiver elements equals the number of receiver elements in each ring,in this example sixteen, while the value of M for the elevation receiverelements equals the number of receiver elements in each vertical sliceof the three rows, where each slice thus includes three receiverelements. In this case, then, each receiver element is a member of boththe N and M groups.

Different approaches may be undertaken, involving formulae such asdiscrete interpolation methods, Gaussian curves, or the like may be usedto estimate the maximum likelihood heading and elevation angles. Theymay be similar to a weighted average, and are thus included as arepresentation of this estimate.

In some exemplary embodiments, as shown in FIG. 8, a single beacon ormultiple beacons 76 may be placed at fixed locations with emittersmounted to beam signals in an angled manner away from the mountingsurface. For example, FIG. 8 shows a room with three beacons 76 mountedon the wall ceiling or corners of the room with emitting elementscovering a specific angle of illumination. With a single or multiplereceiver array 78 located in the room and inside the illumination areaof the multiple beacons 76, the receiver array 78 may be positioned withone or more beacons 76 actively transmitting data signals and rangingbursts. FIG. 8 illustrates that the receiver array 78 may processranging data as R1, R2, R3, and heading data as H1, H2, H3 all which canbe used to position, for example, a robot 80 in real-time.

It some exemplary embodiments, as shown in FIG. 9, a receiver arraybased receiver vehicle 82 may be configured to determine a path to aprogrammed waypoint. By positioning a receiver array 84 with an angleand a range from the beacons 86, the receiver array processor may plot awaypoint P1, P2, P3 based on an existing position point as reference.Hence a sequence of additional waypoints may be plotted and sent to aguidance and control subsystem in the receiver vehicle 82 to plotmovement to the plotted waypoint. Exemplary embodiments may be appliedto robotics where directions are made to move the robot along a seriesof waypoints and verified using the beacon/receiver array approach toposition the robot in time or real-time, as shown in FIG. 9.

In some exemplary embodiments, guidance and control algorithms may bedeployed to plot waypoints and allow for the accuracy improvement of apath along a waypoint. Waypoints to be determined in this case mayinvolve the triangulation of range values, and add the estimatedposition based on heading and elevation angles also estimated using thereceiver array. As shown in FIG. 10, examples of such accuracyimprovement may allow for the precise docking of a robot 88 to a dockingstation 90. This may be accomplished with relatively simple electronicsinvolving two beacons 92 and a single receiver array 94, as shown inFIG. 10.

While FIG. 1 shows beacon device at 10 at with at least one, in thiscase a plurality of emitters 12 which are distributed along an emittersurface 14, with each emitter 12 configured to emit at least onelocating signal 16 along a unique axis 18, other exemplary embodimentsmay be deployed in which a plurality of emitters emit at least onelocating signal along, for example, parallel axes. This may beparticularly beneficial with each emitter being nonetheless uniquelyidentifiable.

Exemplary embodiments may be implemented, for example, for use as singleor multiple beacons combined with one or more receiver arrays for any ofthe following, among other possible applications:

-   -   Target tracking for a fixed camera system for zooming/focus;    -   Target tracking for a mobile camera system for        orienting/following;    -   Target tracking for toy applications;    -   Target tracking for sports applications (golf, baseball,        training, etc.);    -   Hand-held devices that do 6DOF position and orientation, for 3D        gaming as an example;    -   Tracking and positioning of badges and other transmitters for        real-time people or asset tracking; and    -   Docking and positioning of robots.

The present disclosure describes what are considered to be practicalexemplary embodiments. It is recognized, however, that departures may bemade within the scope of the invention and that obvious modificationswill occur to a person skilled in the art. With respect to the abovedescription then, it is to be realized that the optimum dimensionalrelationships for the parts of the invention, to include variations insize, materials, shape, form, function and manner of operation, assemblyand use, are deemed readily apparent and obvious to one skilled in theart, and all equivalent relationships to those illustrated in thedrawings and described in the specification are intended to beencompassed by the present invention.

Therefore, the foregoing is considered as illustrative only of theprinciples of the invention. Further, since numerous modifications andchanges may readily occur to those skilled in the art, it is not desiredto limit the invention to the exact construction and operation shown anddescribed, and accordingly, all suitable modifications and equivalentsmay be resorted to, falling within the scope of the invention.

While a device or assembly and an accompanying method have beendescribed for what are presently considered the exemplary embodiments,the invention is not so limited. To the contrary, the invention isintended to cover various modifications and equivalent arrangementsincluded within the spirit and scope of the appended claims. The scopeof the following claims is to be accorded the broadest interpretation soas to encompass all such modifications and equivalent structures andfunctions.

1. A method for a locator configuration to locate a locating signalemitter, comprising: providing a plurality of spaced receivers,including a group of receivers in respective locating signal-receivingangular positions, each of the receivers having an angular positioncoordinate value, stored in memory, associated with a designated angleof the receiver relative to a reference axis; enabling each receiver inthe group of receivers to receive at least one locating signal from thelocating signal emitter, the locating signal including, at least inpart, a plurality of pulses in at least one train of pulses; enabling atleast one locator processor, in communication with the spaced receivers,at a first clock increment, to: process the locating signal received ateach receiver in the group of receivers, to form a pulse count value inrelation to a count of pulses above a pulse strength threshold; form apulse count profile whose coordinates include each pulse count value andthe corresponding angular location accessed from memory; and toattribute a designated angular position coordinate value correspondingto a maximum pulse count value in the pulse count profile as a locationvalue representative of at least the heading of the emitter.